Fluidic actuator system and method

ABSTRACT

A pneumatically actuated solar panel array system that includes a plurality of separate actuator assemblies that each have a top plate and bottom plate and a first and second bellows that each extend between and are coupled to the top and bottom plates at a respective top head and bottom head, the first and second bellows being configured to be separately pneumatically inflated, where the pneumatic inflation expands the bellows along a length. The pneumatically actuated solar panel array system can also include a plurality of solar panels coupled to the actuator assemblies with the solar panels being configured to be actuated based on inflation of one or more bellows associated with the plurality of actuator assembles.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.15/012,715 filed Feb. 1, 2016, which is a non-provisional of and claimsthe benefit of U.S. provisional patent application 62/110,275 filed Jan.30, 2015 entitled “FLUIDIC ACTUATOR SYSTEM AND METHOD.” This applicationis hereby incorporated by reference in its entirety and for allpurposes.

This application is also related to U.S. application Ser. Nos.14/064,070 and 14/064,072, both filed Oct. 25, 2013, which claim thebenefit of U.S. Provisional Application Nos. 61/719,313 and 61/719,314,both filed Oct. 26, 2012. All of these applications are herebyincorporated herein by reference in their entirety and for all purposes.

STATEMENT REGARDING FEDERALLY-SPONSORED RESEARCH

This invention was made with Government support under contract numberDE-AR0000330 awarded by DOE, Office of ARPA-E. The Government hascertain rights in this invention.

BACKGROUND

Conventional solar panel arrays are static and unmoving or configured totrack the sun throughout the day to provide optimal capture of solarenergy. Static solar panel arrays are often undesirable because they areunable to move and accommodate the changing angle of the sun during theday and throughout the year.

On the other hand, conventional moving solar panel arrays are also oftenundesirable because of their high cost of installation, the complexityof the mechanisms that move the solar panels, and the relatively highenergy cost associated with actuating the solar panels. For example,some systems include motors that move individual solar panels or groupsof solar panels. Such motors and other complex moving parts areexpensive to install and maintain.

In view of the foregoing, a need exists for an improved solar panelactuation system and method in an effort to overcome the aforementionedobstacles and deficiencies of conventional solar panel actuationsystems.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1a is an exemplary side-view drawing illustrating an embodiment ofa bellows.

FIG. 1b is an exemplary top-view drawing of the bellows of FIG. 1 a.

FIG. 2a is a close-up side view of the convolutions of the bellows ofFIGS. 1a and 1b in a first configuration.

FIG. 2b is a close-up side view of the bellows of FIG. 2b , where thebellows is in a second configuration.

FIG. 3 is an exemplary perspective drawing illustrating an embodiment ofan actuator assembly.

FIG. 4 is an exemplary exploded perspective drawing illustrating theactuator assembly of FIG. 3.

FIG. 5a is a flow diagram of a method of building an actuator assembly.

FIG. 5b is another flow diagram of a method of building an actuatorassembly.

FIG. 6 is a side view drawing of an actuator assembly in a first, secondand third configuration.

FIGS. 7a, 7b and 7c are perspective drawings of an actuator assemblycoupled with a solar panel and various bases in accordance with someembodiments.

FIG. 8 is a perspective drawing of a portion of an actuator assembly anda base in accordance with an embodiment.

FIGS. 9a, 9b and 9c respectively illustrate a perspective, front andside view of a single-axis actuator assembly in accordance with anotherembodiment.

FIG. 10 illustrates a pair of the actuator assemblies illustrated inFIGS. 9a-c mounted on poles and coupled with a solar panel.

FIGS. 11a and 11b illustrate actuator assemblies in accordance withfurther embodiments.

FIG. 12 illustrates an actuator assembly having a pivot in accordancewith an embodiment.

FIGS. 13a 13b, 13c, 13d and 13e illustrate actuator assembliescomprising bellows and springs in accordance with some exampleembodiments.

FIGS. 14a and 14b illustrate actuator assemblies in accordance withfurther embodiments.

FIGS. 15a and 15b illustrate solar panel arrays in accordance with someembodiments.

FIG. 16 is a block diagram of a portion of a solar panel array system inaccordance with an embodiment.

FIGS. 17a, 17b and 17c illustrate example embodiments of how bellows canbe interconnected via lines in a solar panel array.

FIGS. 18a and 18b illustrate example embodiments of a restrictor thatcomprises a body that defines a fluid passage having a pair of ports.

FIGS. 19a and 19b illustrate an example embodiment of an actuatorassembly having two bellows.

FIGS. 20a and 20b illustrate another example of a bellows in accordancewith a further embodiment.

FIG. 21 illustrates a further example embodiment of an actuator assemblyhaving two bellows.

FIGS. 22a, 22b and 22c illustrate a base plate of the example actuatorassembly of FIG. 21.

FIGS. 23a, 23b and 23c illustrate a top plate of the example actuatorassembly of FIG. 21.

FIG. 24 illustrates another example embodiment of an actuator assemblyhaving two bellows.

FIGS. 25a, 25b and 25c illustrate a base plate of the example actuatorassembly of FIG. 24.

FIGS. 26a, 26b and 26c illustrate a top plate of the example actuatorassembly of FIG. 24.

FIGS. 27a, 27b and 27c illustrate a base plate in accordance withanother embodiment.

FIGS. 28a, 28b and 28c illustrate a top plate in accordance with yetanother embodiment.

FIGS. 29a and 29b illustrate an example embodiment of a V-plate actuatorin a first and second configuration.

FIGS. 30a and 30b illustrate a flexure spacer in accordance with oneembodiment.

FIGS. 31a and 31b illustrate two example embodiments of flexurecaptures.

FIG. 32 illustrates an actuator assembly comprising hard stops in afirst, second and third configuration.

FIGS. 33a and 33b illustrate the actuator assembly of FIGS. 3 and 4further comprising a tension washer in accordance with one embodiment.

FIGS. 34a and 34b illustrate two example embodiments of an actuatorassembly being coupled to a post.

FIG. 35 illustrates an example of a solar array comprising a pluralityof coupled actuator assemblies and solar panels coupled via a railsystem.

FIG. 36 is a block diagram of a portion of a solar panel array inaccordance with an embodiment.

FIG. 37 is a block diagram of a portion of a solar panel array inaccordance with another embodiment.

FIG. 38 is a block diagram of a portion of a solar panel array inaccordance with a further embodiment.

FIG. 39 is a block diagram of a portion of a solar panel array inaccordance with yet another embodiment.

FIGS. 40a and 40b illustrate a V-plate actuator in accordance with oneembodiment being in a first and second configuration.

FIGS. 41a, 41b, 41c, 41d and 41e are block diagrams of a portion of asolar panel array in accordance with five example embodiments.

FIGS. 42a and 42b illustrate an example actuator assembly having alocking mechanism in accordance with one embodiment.

FIG. 43 illustrates an example actuator assembly having a lockingmechanism in accordance with another embodiment.

FIGS. 44a and 44b illustrate the locking mechanism of FIG. 43 in alocked and unlocked configuration.

FIG. 45 illustrates an actuator assembly comprising a flexure extensionlockout and tracked slot and pin path in accordance with one embodiment.

It should be noted that the figures are not drawn to scale and thatelements of similar structures or functions are generally represented bylike reference numerals for illustrative purposes throughout thefigures. It also should be noted that the figures are only intended tofacilitate the description of the preferred embodiments. The figures donot illustrate every aspect of the described embodiments and do notlimit the scope of the present disclosure.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

Since currently-available solar panel actuation systems are deficient, afluidic actuation system as described herein can prove desirable andprovide a basis for a wide range of applications, such as efficientlyand cost-effectively moving solar panels about one or more axes. Thisresult can be achieved, according to one embodiment disclosed herein, bya bellows 100 as illustrated in FIGS. 1a and 1b that can be part of anactuator assembly 300 as illustrated in FIG. 3. Although various exampleembodiments discussed herein relate to bellows 100, further embodimentscan be directed to any suitable compliant pressurized fluid-filledactuators. For example, in some embodiments, such a compliantpressurized fluid-filled actuator can have a bulbous design, cancomprise one or more inflatable balls, or the like (e.g., as illustratedin FIGS. 40a and 40b ).

Turning to FIGS. 1a and 1b , the bellows 100 is shown as comprising ahollow elongated body 110 having a series of convolutions 105 thatextend along a central axis C between a bottom-end 115 and a top end120. The convolutions 105 are defined by a plurality of alternatingcrests 111 and roots 112. The bottom-end 115 is defined by a port 118and a bottom-head 116 that has a plurality of truncations 117. Thetop-end 120 comprises a top-head 121 that includes a plurality oftruncations 121. FIG. 1b illustrates the top-head 121 having fourtruncations 122 in respective square planes about the top head 121. Asdiscussed in more detail herein, the truncations 117, 122 of the top andbottom head 116, 121 can be used for coupling the bellows 100 within anactuator assembly 300 as shown in FIG. 3. Some embodiments may havedifferent head configurations with any number of square planes or becompletely round. Head configurations may also include a variety ofretention features to secure mating or mounting to actuator pressureplates. The number of convolutions may be chosen based on desired rangeof motion of the actuator or stiffness. The shape and diameter of thebellows convolutions may be chosen based on desired range of motion,stiffness, dead load, design load or the like.

The bellows 100 can be made of any suitable material including polymers,copolymers, terpolymers, and polymer blends (both miscible andimmiscible), thermoplastic elastomers, thermoset polymers,thermoplastics, block copolymers, graft copolymers, polymer composites,and the like. Specific examples include high-density polyethylene(HDPE), cross-linked polyethylene (PEX), polypropylene (PP), low-densitypolyethylene (LDPE), polyethylene terephthalate (PET), polyethylenenaphthalate (PEN), polystyrene (PS), polyetherimide (PEI), polyphenyleneether (PPE), thermoplastic polyurethane (TPU), thermoplastic elastomers(TPE), polycarbonate, acrylic, nylon, and the like. In variousembodiments the bellows 100 can be made of different materials definedby layers or additives. For example, one embodiment can comprise abellows 100 having an external carbon-black doped HDPE layer for UVresistance, over a more rigid structural PET layer, and with a thirdinner-layer of HDPE, LDPE, or the like, which can act as a flexibleinternal bladder. In other embodiments, the bellows 100 can be made oftwo or more materials in sequence. For example, one embodiment maycomprise a bellows with sequentially alternating HDPE and PPconvolutions, or the like.

In some embodiments it may be desirable for the bellows 100 to compriseone or more ultra-violet (UV) stabilizer, UV-absorber, anti-oxidant,thermal stabilizer, carbon black, glass fill, fiber reinforcement,electrostatic dissipater, lubricant concentrate or the like. Materialsof the bellows 100 can be selected based on a desired manufacturingtechnique, bellows strength, bellows durability, range of motion,compliance, sun-resistance, temperature resistance, wear resistance andthe like. In some embodiments, where the bellows 100 is employed in alocation that experiences sun exposure, it can be desirable to include aprotective UV coating or UV stabilizer in the bellows 100.Alternatively, the bellows 100 can be covered in a shroud or otherprotective surrounding.

Bellows 100 can be made via any suitable manufacturing process,including extrusion blow-molding (EBM), injection stretch blow-molding(ISBM), multi-layer blow-molding, co-extrusion blow molding,co-injection blow molding, suction blow-molding, 3-D blow-molding,sequential co-extrusion blow-molding, vacuum forming, injection molding,thermoforming, rotational molding, process cooling, three-dimensionalprinting, dip modeling or the like.

Bellows 100 can be any suitable thickness in various portions includingabout between 0.002 inches and 0.125 inches, and about between 0.0005inches and 0.25 inches. In various embodiments, the thickness of variousportions of the bellows 100 can be selected based on a desiredmanufacturing technique, bellows strength, bellows durability, range ofmotion, compliance, sun-resistance, temperature resistance, and thelike.

In various embodiments, the hollow bellows 100 can be configured to beinflated and/or deflated with a fluid (e.g., air, a liquid, or thelike), which can cause the bellows 100 to change size, shape and/orconfiguration. Additionally, the bellows 100 can be deformable such thatthe bellows 100 can change size, shape and/or configuration. For exampleFIGS. 2a and 2b are side views of the bellows 100 in a first and secondconfiguration respectively. In the first configuration of FIG. 2a , thedistance D1 between adjoining root portions 112 is greater than thedistance D2 between adjoining root portions in the second configurationof FIG. 2 b.

The bellows 100 can change between the first and second configuration invarious suitable ways. For example, the bellows 100 can naturally assumethe first configuration (FIG. 2a ) when unpressurized or at neutralpressure and then can assume the second configuration (FIG. 2b ) viaphysical compression and/or a negative pressurization of the bellows100. Additionally, the bellows 100 can naturally assume the secondconfiguration (FIG. 2b ) when unpressurized or at neutral pressure andthen can assume the first configuration (FIG. 2a ) via physicalexpansion and/or a positive pressurization of the bellows 100.

Additionally, the bellows 100 can be in the second configuration (FIG.2b ) at a first pressurization and expand to the first configuration(FIG. 2a ) by pressurization to a second pressure that is greater thanthe first pressure. Additionally, the bellows 100 can be in the firstconfiguration (FIG. 2a ) at a first pressurization and contract to thesecond configuration (FIG. 2b ) by pressurization to a second pressurethat is less than the first pressure. In other words, the bellows 100can be expanded and/or contracted via selective pressurization and/orvia physical compression or expansion.

In some embodiments, it may be desirable for the convolutions 110 toengage in a contacting and/or rolling manner in various configurations.For example, FIG. 2a shows the first configuration where theconvolutions are not contacting, whereas FIG. 2b shows the secondconfiguration where the convolutions engage at a contact-region 205. Insome embodiments, the contact-region 205 can provide for a rollingcontact between the convolutions 110, which can be beneficial duringmovement of the bellows 100 as discussed in more detail herein.Additionally, such a contact-region 205 can be beneficial because it canreduce strain on the bellows 100 during compression and can increase thestiffness of the bellows 100 in certain configurations.

Although certain example embodiments of bellows 100 are illustratedherein, these example embodiments should not be construed to be limitingon the wide variety of bellows shapes, sizes and geometries that arewithin the scope and spirit of the present invention, including bellows100 illustrated in FIGS. 20a and 20b . For example, in some embodiments,convolutions can have varying size and shape, including varying in apattern, or the like. Additionally, the bellows 100 can have a curved orrounded contour as shown in FIGS. 1a, 1b, 2a and 2b , or can includeedges, square portions, or the like.

Turning to FIGS. 3 and 4, bellows 100 can be a portion of an actuatorassembly 300. As shown in FIGS. 3 and 4, the actuator assembly 300 caninclude four spaced-apart bellows 100 that each extend between a bottomplate 310 and a top plate 320. A plurality of constraint-panels 330 canextend between and support the bellows 100. A plurality of washers 340can surround and be coupled with a portion of the bellows 100.Additionally, a flexure 350 can extend between the bottom and top plates310, 320 and be coupled thereto via respective bolts 351, 352 (shown inFIG. 4).

The flexure 350 may be captured by the washers 340 or support panels330, thereby constraining them to constituent bellows 100 of theactuator assembly. For example, FIGS. 19a and 19b illustrate exampleembodiments of an actuator assembly 300 that includes two bellows 100, aplurality of support panels 330 that engage a portion of the bellows100, where flexures 350 are captured by the support panels 330.

In various embodiments, the top and bottom heads 116, 121 of the bellows100 can reside within respective coupling-holes 311, 321 of the top andbottom plates 310, 320. In other words, the bottom-heads 116 of thebellows 100 can extend into and couple with bottom coupling-holes 311 ofthe bottom-plate 310 and the top-heads 121 of the bellows 100 can extendinto and couple with top coupling-holes 321 of the top plate 320. Invarious embodiments, the truncations 117, 121 of the top and bottomheads 116, 121 can correspond to and couple with the shape of thecoupling-holes 311, 321 so as to reduce or prevent rotation of thebellows within the coupling-holes 311, 321. Additionally, inflation ofthe bellows 100 can expand the top and bottom heads 116, 121 so that thetop and bottom heads 116, 121 further engage and couple with thecoupling-holes 311, 321. Retaining features may be formed into thebellows 100, including at the top and bottom heads 116, 121 to index orto engage with the top plate, manufacturing jig, test fixture or thelike. (e.g., FIG. 1a, 1b, 20a , or 20 b)

In various embodiments, the top and bottom plates 310, 320 can compriseany suitable material, including a polymer, metal, wood, compositematerial, a combination of materials, or the like. Additionally,although a specific configuration of the top and bottom plates 310, 320is shown herein, further embodiments can include plates having anysuitable configuration. For example, various suitable embodiments of thetop and bottom plates 310, 320 can be configured to interface with thebellows 100 and also distribute a point load from the flexure 350.Plates 310, 320 can also comprise and leverage existing structures, suchas mounting piles, spanning beams or the like.

Top and bottom plates 310, 320 can be made in any suitable way. Forexample, in one embodiment, a cold rolling process can be used inconjunction with metal stamping to create a C-channel plate with theappropriate interfacing features for the top and bottom plates 310, 320as described herein. Plates 310, 320 may also be formed of standard hotand cold rolled sections. Plate features may be die cut, CNC punched,laser cut, waterjet cut, milled or any other suitable subtractivemanufacturing method. A plate 310, 320 may also comprise multiplestandard sections or custom formed parts. Plates of this nature may bebonded together with a variety of fasteners including rivets, nuts andbolts, welds or the like. For example, top and bottom plates 310, 320 inaccordance with a further embodiment are illustrated in FIGS. 21, 22a-c, 23 a-c, 24, 25 a-c, 26 a-c, 27 a-c, and 28 a-c.

In another embodiment, manufacture of the top and bottom plates 310, 320can include the creation and processing of composite panels. Forexample, a composite top or bottom plate 310, 320 can comprise amulti-material sandwich plate that takes advantage of a light weight andinexpensive core material and the stiffness and strength of thinnersheets of skin material that can adhere to either side of the coresubstrate. Such composite paneling is often used as high stiffness, highstrength, low weight, low cost flooring or construction material.

In some embodiments, a composite top or bottom plate 310, 320 cancomprise a honeycombed polymer core that can take compressive and shearloads, sandwiched between two metal skins that can bear the high tensilestresses caused by bending. It is possible to bind the top or bottomplate 310, 320 with bolts, heated staked columns, ultrasonic welding, orthe top or bottom plates 310, 320 can be assembled with an adhesive.

Utilizing metal stamping, top and bottom plates 310, 320 can be producedhaving multi-planar curvature stamped metal skins and an injectionmolded polymer core. The structure that such geometry creates can givegreater stiffness to a top and bottom plate 310, 320 per the volume ofmaterial used and provides an opportunity to cut down on the expensivemetal skin material. Stiffening features such as ribs, bosses, deepdrawn pockets and webbing can also be incorporated into the design oftop and bottom plates 310, 320 in some embodiments.

In some embodiments, the plates 310, 320 need not be single planarelements. For instance, the bottom plate 320 can be two individualsurfaces each parallel to the two opposing flanges of the post 710 suchthat the bellow interfaces point 180 degrees away from one anotherrather than 0 degrees as in previous configurations. The body of each ofthe bellows 100 then would bend through 90 degrees to meet the top plate310 when the actuator is level. In this case, the plate may not be abending element, but instead be compressive. The plates 310, 320 mayalso take a V-shape with major angle dictated by the desired range ofmotion of the actuator.

For example, FIGS. 29a and 29b illustrate an actuator assembly 2900 inaccordance with a further embodiment that includes a top plate 2905having a first and second portion 2905A, 2905B that are rotatablycoupled at a joint 2910. A first and second bellows 100 are coupled torespective bottom sides of the first and second portions 2905A, 2905Band to a side of a post 2915. As illustrated in FIG. 29a , the pile,2915 can be a compressive element against which the bellows 100 react.Top plate 2905A and B can be designed to be either flat as shown in FIG.29 a, or at an angle up to 90 degrees to one another as shown in 29 b.In various embodiments, the angle between these two plates does notchange with the motion of the tracker, rather their angle with respectto each other can be adjusted at design time to alter the range ofmotion and length of each bellows 100.

In various embodiments, it can be desirable to constrain the bellows 100from buckling and/or squirming as the bellows 100 are inflated and/ordeflated within the actuator assembly 300 or as external loads areapplied, and it may be desirable to constrain the bellows 100 inrelation to adjacent bellows 100 and radially about the flexure 350.Accordingly, in some embodiments, the bellows 100 can be constrainedwith one or both of the constraint-panels 330 and washers 340. Forexample, as shown in FIG. 3, the washers 340 can reside within a rootportion 112 of the bellows 100 and be configured to constrain movementof the bellows 100. Additionally, the washers 340 can also be configuredto slidably reside on the constraint-panels 330, which further providesfor constraint of the bellows 100 as the bellows 100 are inflated and/ordeflated within the actuator assembly 300.

The washers 340 may be fixed in position about the neutral axis of theflexure as an alignment control measure. This may be accomplished withinsert blocks, adhesives, features molded into the washers, flexure orplate. These items may be part of pre-produced sub assembly, or attachedafter shipping to the installation location. In some embodiments, theseitems may be designed to serve multiple purposes including: act as hardstops, limit lateral and transverse bending, bear dead and design loadsfor instances where bellows are unpressurized or under-pressurized. Inone such embodiment, for a single axis configuration, blocks withflanges tapered to fit the range of motion of the actuator may beinserted between the constraining panels and capturing the centralflexure. These blocks may be placed between two flexures in the singleaxis set up, or to the outside of them. These blocks may be made ofpolymer, solid or bent sheet metal, or any other suitable material andformed in any suitable manner. For example, one embodiment of a flexurespacer 3000 is illustrated in FIGS. 30a and 30b . Another embodiment ofa flexure spacer 2400 is illustrated in FIG. 24. Additionally, exampleembodiments of flexure coupling slots 2500, 2600, 2700, 2800 areillustrated respectively in FIGS. 25a, 25c, 26a, 26c, 27a, 27c, 28a and28 c.

Although the actuator assembly 300 of FIGS. 3 and 4 is shown as havingeight washers 340 and two constraint-panels 330, further embodiments canbe absent of constraints or can have any suitable number of suchconstraints. For example, in one embodiment, washers 340 can beassociated with each root portion 112 of a bellows 110. The number ofconstraints can be selected based on a maximum operating pressure of thebellows 100, a desired stiffness of the bellows 100, anticipatedexternal loading via wind, or the like. Additionally, the design of theconstraint-panels 330 and washers 340 shown in FIGS. 3 and 4 should notbe construed to be limiting on the many types of possible constraintsthat can be applied to an actuator assembly 300 in further embodiments.For example, further embodiments can include constraints that include awire, a rope, a polymer microfilament, or the like (e.g., as illustratedin FIGS. 33a and 33b ). Further embodiments can include constraints thatare integrated into the body of the bellows 100 (e.g., molded into thebellows 100).

In various embodiments, the flexure 350 can be a tensile flexure thatbears antagonistic forces of the actuator assembly 300 as the bellows100 are inflated and/or deflated, while also providing for bending orflexing in response to movement of the actuator assembly 300 asdiscussed in further detail herein. In some embodiments, the flexure 350can comprise a flexible galvanized steel wire rope that is coupled tothe top and bottom plates 310, 320 via crimped Nicopress fittings or anyother suitable wire rope fitting. In further embodiments, the flexure350 can comprise a universal ball joint, a fiberglass rod, a Spectracord, a Dyneema cord, a spring steel flexure, a pivot flexure, atetrahedral linkage, or the like. Additionally, there may be multipleflexures. For example, two tensile flexures are used in a single axisconfiguration.

In another embodiment, as shown in FIG. 8, the flexure 350 can comprisea universal joint 800 defined by a first and second arm 805, 510 thatare respectively coupled to the top and bottom plates 310, 320 andcoupled to each other via a pair of axles 815. As shown in thisembodiment, the actuator assembly 300 can be disposed on a table stand830 defined by top 831 and a plurality of legs 832 that extend downwardfrom the top 831.

An actuator assembly 300 can be assembled in various suitable ways. Forexample, FIG. 5a , illustrates a method 510 for assembling an actuatorassembly 300 in accordance with one embodiment. The method 510 begins inblock 511, where the flexure 350 is coupled with the bottom-plate 310,and in block 512, the bellows 100 are positioned in the coupling holes311 of the bottom plate 310. For example, as discussed herein, thebottom head 116 of each bellows 100 can be inserted into a respectivecoupling hole 311 of the bottom plate 310.

In block 513, constraints such as the constraint-panels 330 and/orwashers 340 can be applied to the bellows 100, and in block 514 the topplate 320 is applied to the top end 120 of the bellows 100. For example,as discussed herein, the top-heads 121 of the bellows 100 can beinserted into respective coupling holes 321 of the top plate 320. Inblock 515, the bellows 100 are compressed and the flexure 350 is coupledwith the top plate 320. For example, in some embodiments, the flexure350 can be coupled via a Nicopress fitting, via swaging, via a Speltersocket, or the like.

An actuator assembly 300 can also comprise snap-in connections, twist-inconnections, one way push-in barb connections, toggle locks or any othersuitable mechanism or connection to facilitate quick and inexpensiveassembly of an actuator assembly 300. For example, flexure couplingslots 2500, 2600, 2700, 2800 are illustrated respectively in FIGS. 25a,25c, 26a, 26c, 27a, 27c, 28a and 28c . Additionally, an example of aflexure capture 3100 is illustrated in FIG. 31a , which includes a largeslot 3105, and a smaller slot 3110, which allows corresponding portionsof a flexure 350 to pass through the large and smaller slots 3105, 3110,with a flange 353 of the flexure 350 being captured at a catch portion3115.

In another example, a swivel capture 3150 is illustrated in FIG. 31b ,which can comprise a capture slot 3160, and a pair of capture legs 3165.The swivel capture 3150 can be rotatably coupled to one of a top and/orbottom plate 310, 320 and be configured to capture and hold a portion ofthe flexure 350 within the capture slot 3160, within a flexure couplingslot 2500, and being retained via a flange 353 of the flexure 350. Thelegs 3165 can lock within respective leg coupling slots 2505.

In some embodiments, the actuator assembly 300 can be constructed withan automated assembly process. For example, FIG. 5b illustrates flowdiagram of a method 520 of automated assembly of the actuator assembly300. As illustrated in FIG. 5b , the method 520 includes a flexureassembly that includes a stripping and crimping a wire rope with anautomated cut and crimp machine.

The method 520 includes an inner washer attachment step that includesinterior washers being threaded over the crimp and onto the wire flexure350. The flexure 350 is also twisted to lock the washers into place.

The method 520 includes a bellows integration step where outer washersare placed around the bellows 100 and heat staked to the interiorbellows 100. The bellows 100 are now attached to each other and thetensile member via the constraining washers.

Turning to FIG. 6, the actuator assembly 300 can move to assume aplurality of configurations based on the inflation and/or deflation ofthe bellows 100. For example, the actuator assembly 300 can assume afirst configuration A, where a plane TO of the top-plate 320 is parallelto a plane BA of the base-plate 310. In this first example configurationA, the bellows 100 are of equal length and have a straight central axisCE that is perpendicular to top and bottom planes TO, BA. In such aconfiguration, the bellows 100 can be at a neutral pressure, partiallyinflated, or partially deflated.

The actuator assembly 300 can also assume example configurations B andC. In such configurations B, C, the top-plate 320 is in a configurationwhere the plane TO of the top-plate 320 is no longer parallel to theplane BA of the base plate 310. For example, in configuration B, a firstbellows 100A is expanded compared to the configuration A, whereas asecond bellows 100B is compressed compared to configuration A. Thecentral axes CE of the first and second bellows 100A, 100B becomecurved. Accordingly, the relative expansion and compression of the firstand second bellows 100A, 100B in configuration B rotates the plane TO ofthe top plate 320 to the right. In such a configuration, the firstbellows 100A can be more inflated compared to the first configuration A,and the second bellows 100B can be less inflated compared to the firstconfiguration A.

In contrast, in configuration C, the second bellows 100B is expandedcompared to the configuration A, whereas the first bellows 100A iscompressed compared to configuration A. The central axes CE of the firstand second bellows 100A, 100B are curved. Accordingly, the relativeexpansion and compression of the first and second bellows 100A, 100B inconfiguration C rotates the plane TO of the top plate 320 to the left.In such a configuration, the second bellows 100B can be more inflatedcompared to the first configuration A, and the first bellows 100A can beless inflated compared to the first configuration A.

Accordingly, by selectively inflating and/or deflating the bellows 100of the actuator assembly 300, the plane TO of the top-plate 320 can bemoved to various desired positions. In embodiments having four bellows100 as shown in FIGS. 3, 4 and 6, such selective inflation and/ordeflation of the bellows 100 provides for movement of the top-plate 320in two axes. FIG. 32 illustrates and alternative embodiment of theactuator assembly 300, which comprises hard stops 3200 as discussedabove.

In one application, as illustrated in FIGS. 7a-c , the actuator assembly300 can be used to move and position a solar panel 705 that is coupledto the top-plate 320. Accordingly, FIGS. 7a-c illustrate three exampleembodiments 700A, 700B, 700C of a solar-actuator assembly 700. Forexample, in a first embodiment 700A, as shown in FIG. 7a , thesolar-actuator assembly 700 can include a post 710 that the actuatorassembly 300 rests on. The post 710 can be held by a base or disposed inthe ground (e.g., via a ground post, ground screw, or the like) inaccordance with some embodiments. This post can be driven into theground at a variable length depending on loading conditions at the site.The post can be a steel component with an I, C, hat, or other crosssection. The post can be treated with zinc plating, hot dip galvanizing,or some other method for corrosion resistance.

In a second embodiment 700B, as shown in FIG. 7b , the solar-actuatorassembly 700 can include a base 720 that comprises a plurality of legs721. In a third embodiment 700C, the solar-actuator assembly 700 caninclude a base architecture 730 that holds one or more weights 730. Inone embodiment, the weights 735 can comprise tanks that can be filledwith fluid such as water. Such an embodiment can be desirable becausethe solar-actuator assembly 700C can be lightweight for transport andthen secured in place by filling the weights 735 with water or otherballast at a desired location.

Although various example embodiments herein describe use of an actuatorassembly 300 with solar panels 705, in further embodiments, an actuatorassembly 300 can be used to actuate or otherwise move any other suitableobject, including concentrators, reflectors, refractors, and the like.

In further embodiments, the actuator assembly 300 can comprise one ormore hard stop (not shown) that can be configured to prevent theactuator assembly 300 from over-extending. For example, in someembodiments, the actuator assembly 300 can comprise one or more tensilerope or webbing coupled to and extending between the top and bottomplates 310, 320. In another example, positive bosses can be provided aspart of the actuator assembly 300 or proximate to the actuator assembly300 such that contact with the bosses constrains the range of motion ofthe actuator assembly 300. In various embodiments, such hard stops canbe beneficial for preventing damage to the actuator assembly 300 in highwinds or exposure to other forces that might over-extend the actuatorassembly 300. Pressurizing against a hard stop may also preventexcitation of destructive resonant frequencies induced by oscillatoryloads (such as wind). In some embodiments, it can be beneficial to stowthe actuator assembly 300 against a hard stop when exposure toundesirable forces is anticipated (e.g., during a storm, or the like).These hard stops can also have a locking feature in order to stop allmovement of the tracker when hit. This can serve as a stow mechanismthat will further prevent damage to the tracker in a high wind event.

In some embodiments, a two-axis actuator assembly 300 can include anumber of hard stops, for example eight natural stops (e.g., at N, NE,E, SE, S, SW, W, NW). As discussed in more detail herein, a single axisactuator assembly 300 can include two hard stops at two maximums of itsrange of motion. In further embodiments, the actuator assembly 300 canbe stowed by raising the pressure of all bellows 100 in the actuatorassembly 300 to increase the overall stiffness of the actuator assembly300. Hard stops can also be locking, so that the stopping mechanismrestricts movement in any direction, in order to stow the trackersecurely. The locking mechanism can be actively or passively activatedwhen the tracker reaches the hard stops. The locking mechanism can beactivated when the tracker is at the extreme of any direction of itsmotion, or when it is at an intermediate point, for example, when theactuator is flat.

In one example embodiment, as illustrated in FIG. 32, the base plate3100 can comprise hard stops 3200 that extend upward from the face ofthe base plate 320 and are configured to engage with a portion of thetop plate 320. As shown in FIG. 32, a first hard stop 3200A provides astop when the actuator assembly 300 assumes configuration C and a secondhard stop 3200B provides a stop when the actuator assembly 300 assumesconfiguration B. As discussed herein, hard stops 3200 can be present inembodiments having two, four or any suitable number of bellows 100.Additionally, hard stops can be present on any suitable portion of theactuator assembly 300 including the top plate 320, or the like.

Stow, lockouts or hard stops can be provided in various suitable ways inaccordance with further embodiments. For example, in one embodiment,there can be a separate actuator lockout for purposes of stow. Forexample, a separate small bellows can be used to actuate a lockingmechanism that rigidly, or near rigidly, fixes and actuator assembly300. In one embodiment, such a mechanism can comprise a pin that engagesa corresponding hole or slot, or such a mechanism can comprise multiplepins or toothed arrangements that engage corresponding features enablingmultiple locking positions. In another embodiment, such a mechanism cancomprise corresponding brake pads that enable continuous lockingindependent of tracker position. Off-normal loading can also be used toengage a locking mechanism in accordance with some embodiments.

In some embodiments, a transverse plate tilt can be used for lock out,stow or the like. For example, using asymmetric application of springson flexures, a transverse angle can be piloted by actuator force toengage a lockout for high load and/or low load situations. Collectivebellows pressure above or below the corresponding flexure with springforce can thereby be used to engage a locking mechanism that fixes thetracker position for the purposes of stow. Off normal loading can alsobe used to engage the locking mechanism in accordance with someembodiments.

For example, FIGS. 42a and 42b illustrate an example of an actuatorassembly 300 that comprises a bottom plate 310, a top plate 320, atleast one bellows 100, and a locking assembly 4200. The locking assembly4200 comprises a spring assembly 4205 that biases a shaft 4210 that isconnected to a bottom portion of the top plate 320. A locking arm 4215is coupled to the top plate 320 at a first end and includes a lockinghead 4220 at a second end, which is configured to engage a lockingmember 4225 that is coupled to and extends from the bottom plate 310.

FIG. 42a illustrates the locking assembly 4200 in an unlockedconfiguration, where the top and bottom plate 310, 320 are substantiallyparallel and the spring assembly 4205 is in and extended configuration.As illustrated in FIG. 42b , the top plate 320 can tilt relative to thebottom plate 310, which can cause the spring assembly 4200 to becompressed. Additionally, the locking head 4220 can engage the lockingmember 4225 when the top plate 320 is tilted, which can lock the topplate 320 in the tilted position, including being biased via the springassembly 4205.

In further embodiments, a bar-linkage lockout can be used to stow orlock an actuator assembly 300. For example, in one embodiment, anactuator piloted four bar linkage can be used to lockout tracker motion.In such an embodiment, An over center four bar linkage between top andbottom plates 310, 320 can be used to fix the actuator assembly 300position for the purpose of stow, and the like. Such a mechanism can beactuated by an external actuator, collective bellows pressure, offnormal loading, or the like.

One example embodiment of a bar-linkage lockout mechanism 4300 isillustrated in FIGS. 43, 44 a and 44 b being associated with actuatorassembly 300 that comprises a bottom plate 310, a top plate 320 and atleast one bellows 100. The locking assembly 4300 comprises a springassembly 4305 that biases a shaft 4310 that is connected to a bottomportion of the top plate 320. A locking arm 4315 is coupled to the topplate 320 at a first end and extends toward a locking assembly 4300 thatincludes a locking head 4331, a bar-linkage assembly 4332, and a linkagefoot 4333 that engaged with and is actuated by the spring assembly 4305and shaft 4310.

The shaft 4310 is illustrated in a first configuration in FIG. 44a ,where the linkage foot 4333 is pushed upward, which in turn causes thelinkage assembly 4332 to rotate the locking head 4331 into a disengagedor open position. However, FIG. 44b illustrates the shaft 4310 in asecond configuration where the linkage foot 4333 assumes a loweredconfiguration, which in turn causes the linkage assembly 4332 to rotatethe locking head 4331 into a locked or closed position, which engagesthe locking arm 4315. Moving of the bar-linkage lockout mechanism 4300from the open or disengaged position in FIG. 44a to the closed or lockedconfiguration of FIG. 44b can be caused by the distance between the topand bottom plate 310, 320 becoming shorter, which causes the shaft 4315to extend further through the bottom plate 310.

In further embodiments, a flexure extension lock out 4500 as illustratedin FIG. 45 can be used for stow or locking in an actuator assembly. Forexample, in such an embodiment, direct flexure extension or stow lockout can be piloted by actuator or bellow force. Collective bellowspressure above or below the corresponding flexure with spring force canbe used to engage a locking mechanism that fixes the tracker positionfor the purposes of stow. Off normal loading can also be used to engagethe locking mechanism 4500 in accordance with various embodiments.

In addition to a two-axis actuator assembly 300 as illustrated in FIGS.3 and 4, further embodiments of an actuator assembly 300 can beconfigured to operate in a one-axis configuration as illustrated inFIGS. 9a-c, 19a, 19b , 21 and 24. For example, referring to FIGS. 9a-cthe actuator assembly 300 can comprise a pair of bellows 100 that extendbetween a top and bottom plate 310, 320. As discussed above, theactuator assembly 300 can include a plurality of constraint-panels 330that can extend between and support the bellows 100. A plurality ofwashers 340 can surround and be coupled with a portion of the bellows100.

Other methods of constraining the inner convolutions of the bellows 100can be present in further embodiments. For example, the bellows 100 canbe constrained with a flexible tensile rope, cord, or string that wrapsaround the inner convolutions of the bellows 100 and connects adjacentbellows 100, in lieu of or in addition to washers and constraint panels.For example, FIGS. 33a and 33b illustrate an example embodiment of anactuator assembly 300 that comprises a wrap 3300 that wraps around theinner convolutions of the bellows 100 and connects adjacent bellows 100.In another embodiment, bellows constraints can take the form of a hollowencasement or tube in which the bellows 100 slidably resides. In such anembodiment, the bellows may not bend but instead may extend linearly.

Additionally, a flexure 350 can extend between the bottom and top plates310, 320 and be coupled to the base plate 310 via heads 953. In someembodiments, the flexure 350 can extend between the bottom and topplates 310, 320 via two runs 952 on opposing sides of a crown portion952 that extends along the top plate 320 as illustrated in FIGS. 9a-c .In further embodiments, there can be one or more separate flexure, forexample as illustrated in FIGS. 3 and 4.

Still referring to FIGS. 9a-c , the actuator assembly 300 having twobellows 100 can be configured to move a solar panel 705 that is coupledto the top plate 320 via respective supports 921, 922 that are mountedperpendicularly to one another and extend along respective lengths ofthe solar panel 705 (e.g. as illustrated in FIGS. 10 and 35). Asdiscussed above in relation to FIG. 6, the bellows 100 of the one-axisactuator assembly 300 can be configured to inflate and/or deflate tomove the solar panel 705 as shown by the arrows in FIG. 9b . Support 922can be some lightweight steel channel. This channel can have a C, Z, orsome other desirable cross section. This channel can be roll formed,bent, or fabricated in some other manner. This channel can also use acorrosion resistant coating such as zinc plating or hot dip galvanizing,or the like, to stop corrosion. This channel can be a variety of lengthsdepending on the size of the tracker and the spacing of the posts. Thesupport 922 holding the solar panels can be mounted to the actuator topplates using bolts, nuts, and through holes through all components, orcan be mounted using a clamping system that would use friction to holdall components in place. Support 921 can be wrapped into the actuatordesign itself as part of the top plate. It can also be of the samesection and material as support 922. The solar panel 705 can be mountedto the support 922 using clamps, bolts, clips, or some other fasteningmethod. This fastening method can also electrically bond the panels tothe support.

Additionally, the actuator assembly 300 can comprise a damper 905 asillustrated in FIGS. 9a-c . FIGS. 9a-c show an embodiment where thedamper 905 extends between the bottom plate 310 and a support 921 thatmoves with the top plate 320. The damper 905 can be configured to smoothmovement of the solar panel 705 by providing resistance that reducessudden or jerky movement of the solar panel 705. In other words, adamper 905 can be configured to counter dynamic loading modes (forexample, wind induced oscillatory modes) and help with smoothingoscillation of an actuator assembly 300. Additionally, inclusion ofdampers 905 can be beneficial because it can allow an actuator assembly300 to operate at a lower operating pressure, which can result inreduced stress on the actuator assembly 300, including stress on bellows100, and the like.

In further embodiments, the damper 905 can be configured in any suitableway. For example, the damper 905 can be coupled to the top and bottomplate 310, 320; the damper 905 can be coupled to the bottom plate 310and the second support 922; or the like. In some embodiments, the damper905 can comprise an air/gas spring, oil dashpot, or the like. In furtherembodiments, the bellows 100 can be filled with a fluid such as water,or the like, to generate a suitable damping effect. In some embodiments,specifically in some embodiments of friction-based pivot dampers, thedampening coefficient may be modulated by varying the collective forceapplied by the bellows. By increasing collective bellows pressure, thestiffness provided by the dampener may be increased, which may bedesirable for high dynamic load cases. The damper can take both linearand rotary forms in accordance with various embodiments.

In further embodiments, a damper can be internally located or integrateddirectly into a compliant fluidic actuator or bellows 100. For example,the material of the actuator can have a high damping coefficient, theactuator can be partially filled with a compliant material with a highdamping coefficient, a block of porous material can be inserted into theactuator that restricts the passage of fluids in an out of said materialthereby achieving damping, a block of elastomeric material that changesvolume in response to external pressure with a significant dampingcoefficient, the actuator can be wrapped in a damping elastomericmaterial, and so forth.

In further embodiments a damper can be integrated with the flexure orpivot system or between washers. For example, the flexure can be encasedin an elastomeric damping material which might further serve to maintainseparation of washers and endplates, or elastomeric damping blocks canbe stacked between washer plates.

As discussed herein, the actuator assembly 300 can be coupled to theground or other structure via a post 710. For example, the actuatorassembly 300 can be associated with or comprise structures illustratedin FIGS. 7a-c , or the like. The actuator can be mounted to this postusing bolts, nuts and washers through the flange of the member, orthrough the web. The actuator bottom plate can have built in mountingfeatures, or separate mounting brackets can be used.

In some embodiments, one or more actuator assemblies 300 can be coupledtogether. For example as shown in FIG. 10, a pair of single axisactuator assemblies 300 can be coupled together via one or more solarpanels 710 and/or supports 922 that extend between the actuatorassemblies 300. Similarly, FIG. 35 illustrates another embodiment 3500that comprises a plurality of actuator assemblies 300 coupled togethervia one or more solar panels 710 and/or supports 922 that extend betweenthe actuator assemblies 300. In such embodiments, two or more actuatorassemblies 300 can move in concert to move a single solar panel array705. As shown in various embodiments, such an actuator assembly system1000 can be anchored in the ground 1020 via posts 710, or the like.Supports 922 can be linked together using bolts and nuts with aconnecting bracket, or with a nesting feature between the two lengths ofsupport 922 that eliminates the need for an additional part. Forexample, FIGS. 34a and 34b illustrate an actuator assembly 300 beingcoupled to a post 710 via a bolt assembly 3400.

Although a specific embodiment of a flexure 350 is illustrated in FIGS.9a-c and FIG. 10, in further embodiments, a flexure 350 for asingle-axis actuator assembly 300 can comprise a parallel rope flexure,a planar flexure, a load bearing pivot, a four-bar linkage, atetrahedral linkage, or the like. Such flexures can comprise anysuitable material, including a metal, plastic, fiber reinforcedcomposite, or the like.

For example, FIG. 11a illustrates an embodiment of an actuator assembly300 having a flexible planar flexure 1110 that extends between a bottomand top plate 310, 320. FIG. 11b illustrates another embodiment of anactuator assembly 300 comprising a flexible tetrahedral linkage 1120defined by a rope 1121 that extends between a bottom and top plate 310,320. FIG. 12 illustrates a further embodiment of an actuator assembly300 comprising a pivot 1210 that extends between a bottom and top plate310, 320.

In accordance with further embodiments, actuator assemblies 300 caninclude various other suitable structures and assume various othersuitable forms. For example, FIGS. 13a-e and 14a-b illustrate furtherembodiments of actuator assemblies 300. In one embodiment, asillustrated in FIG. 13a , a bellows 100 and compression spring 1305 canbe positioned on opposing sides of a flexure 1305 and extend between abottom and top plate 310, 320. Accordingly, inflation and/or deflationof the bellows 100 can actuate the top plate 320, with the top plate 320being biased by the spring 1305. Further embodiments can have anysuitable plurality of the bellows 100 and/or springs 1305.

In another embodiment, as illustrated in FIG. 13b , an extension spring1310 can be disposed within a bellows 100 extending between a bottom andtop plate 310, 320. Accordingly, inflation and/or deflation of thebellows 100 can actuate the top plate 320, with the top plate 320 beingbiased by the spring 1310. Further embodiments can have any suitableplurality of the bellows 100 and/or springs 1310.

In a further embodiment, as illustrated in FIG. 13c , a bellows 100 andextension spring 1315 can extend between a bottom and top plate 310,320, with a portion of the top plate 320 being rotatably fixed at apivot 1320. The spring 1315 can be proximate to the pivot 1320 and thebellows 100 can be distal from the pivot 1320 compared to the spring1315, or vice versa. Accordingly, inflation and/or deflation of thebellows 100 can actuate the top plate 320, with the top plate 320 beingbiased by the spring 1315. Further embodiments can have any suitableplurality of the bellows 100 and/or springs 1315. The pivot 1320 can bepresent in any suitable position on the top plate 320.

In a further embodiment, as illustrated in FIG. 13d , an extensionspring 1325 can be wrapped around a bellows 100 extending between abottom and top plate 310, 320. Accordingly, inflation and/or deflationof the bellows 100 can actuate the top plate 320, with the top plate 320being biased by the spring 1325. Further embodiments can have anysuitable plurality of the bellows 100 and/or springs 1325.

In yet another embodiment, as illustrated in FIG. 13e , a biasingassembly 1330 can be coupled to a top plate 320 that is rotatably fixedat a pivot 1320. In some embodiments, the pivot 1320 and biasingassembly 1330 can be disposed at opposing ends of the top plate 320. Thebiasing assembly 1330 can comprise an elongated housing 1335 thatextends between a top and bottom side of a bottom plate 310, with abellows 100 disposed on the top side of the bottom plate 310 within thehousing 1335 and a compression spring 1340 disposed on the bottom sideof the bottom plate 310 within the housing 1335. The biasing assembly1330 can be pivotally coupled to the top plate 320 via an extension1345. Inflation and/or deflation of the bellows 100 can actuate the topplate 320, with the top plate 320 being biased by the spring 1340 of thebiasing assembly 1330. Further embodiments can have any suitableplurality of biasing assemblies 1330, bellows 100 and/or springs 1340.

In another embodiment, as illustrated in FIG. 14a , an actuator assembly300 can comprise a bellows 100 that extends between a bottom and topplate 310, 320, with the bottom and top plate 310, 320 being rotatablybiased via a torsional spring 1410 that surrounds a pivot 1415.Accordingly, inflation and/or deflation of the bellows 100 can actuatethe top plate 320, with the top plate 320 being biased by the spring1410. Further embodiments can have any suitable plurality of the bellows100 and/or springs 1410.

A further embodiment, as illustrated in FIG. 14b , can include a leafspring 1430 that is coupled to a bottom plate 310 at a coupling 1420.Accordingly, inflation and/or deflation of the bellows 100 can actuatethe leaf spring 1430, with the leaf spring 1430 being self-biased.Further embodiments can have any suitable plurality of the bellows 100.

As illustrated by the embodiments of FIGS. 13a-e and 14a-b , variousembodiments can include one or more spring that replaces and/or biasesone or more bellows 100. These embodiments are only provided as someexamples of the many possible embodiments that are within the scope andspirit of the present invention. Additionally, while the embodiments of13 a-e and 14 a-b can be used in single-axis actuator assemblies 300, infurther embodiments, actuator assemblies 300 comprising springs can beadapted for use in actuator assemblies 300 configured to move in two ormore axes.

As discussed herein, in various embodiments one or more actuatorassembly 300 can be configured to actuate a solar panel 705 (see, e.g.,FIGS. 6, 7 a-c and 10). In further embodiments, it may be desirable toactuate a grouped plurality of solar panels 705 together substantiallyin unison. For example, as the sun moves through the sky during the day,it can be desirable for an array of solar panels 705 to movably trackthe sun so that the panels 705 are optimally positioned to collect themaximum amount of solar energy.

Although certain example embodiments of an actuator assembly 300 shownherein comprise a specific number of bellows 100 (e.g., four, two, one,zero), these examples should not be construed to be limiting on the widevariety of configurations of an actuator assembly 300 that are withinthe scope and spirit of the present invention. For example, variousembodiments of an actuator assembly 300 can include any suitableplurality of bellows 100 (e.g., 3, 5, 6, 7, 8 or more); can include asingle bellows 100; or bellows 100 can be absent. The orientation of thebellows 100 and the direction of the force they exert can also change.Rotational motion of an actuator assembly 300 can be accomplished withbellows 100 providing a force that is not parallel and in the samedirection, as shown in FIGS. 3 and 4, but the bellows 100 can beoriented on the same side of the pivot point of the rotationalactuation, so that the forces are parallel but in opposite directions,or the bellows 100 can be oriented so that they are offset 90 degreesfrom the pivot point, so that the forces are perpendicular, or in manyother orientations where the moments created by each bellows 100 in anactuator assembly 300 are in different directions.

FIGS. 15a and 15b illustrate two embodiments of a panel array 1500 thateach comprises a plurality of actuator assemblies 300 that each includesa solar panel 705. The actuator assemblies 300 can be interconnected vialines 1510, which are configured to provide fluid to the bellows 100 ofthe actuator assemblies 300. The panel array 1500 can be controlled viacontrol module 1520 that is coupled to the network of lines 1510.

As shown in FIG. 16, the control module 1520 can comprise a compressor1610 that includes a filter 1611 with the compressor 1610 being operablycoupled to an accumulator 1620, which is operably coupled to a four-portmanifold 1630. The manifold 1630 is operably connected to four outputlines 1640A-D, but for purposes of clarity, only the elements 1600(surrounded by the dotted box) connected to the first output line 1640Aare shown. Accordingly, in accordance with various embodiments, the setof system elements 1600 can be provided four times in parallel. In otherwords, elements 1600 are shown connected to the first output line 1640A,but an identical or similar set of such elements 1600 can also beoperably connected to output lines 1640B, 1640C, 1640D as described infurther detail herein. Alternatively, the quantity of control channelsand elements 1600 may be values other than four. For example, inembodiments where an actuator assembly 300 has two bellows 100, therecan be two channels. For example, FIG. 36 illustrates an exampleembodiment of a system 3600 having two channels that correspond to arespective bellow 100 of a plurality of actuator assemblies 300.Additionally, further filtration and/or drying components can be presentdownstream from the compressor 1610 in accordance with furtherembodiments.

Accordingly, each of the manifold output lines 1640 can be operablyconnected to an inlet valve 1650, which is operably connected to achannel-level accumulator 1660. The channel-level accumulator 1660 isoperably connected to an outlet valve 1670, a pressure sensor 1680 and aplurality of bellows 100 that are respectively associated with adifferent actuator assembly 300. The elements 1600 that are operablycoupled with the manifold output line 1640A can be configured tomaintain substantially the same pressure and/or deflation/inflationstate for each of the bellows 100 attached thereto. In variousembodiments, this can alternatively be achieved with a bidirectionalvalve in lieu of an inlet and outlet valve.

In various embodiments of a two channel system, an additional cross-overvalve may be desirable. Such a valve can permit flow between the twochannels when activated. This can allow the system to move towards aflat position without requiring air from the compressor. This wouldallow half of all motions to occur without the use of the compressor andwithout the associated power consumption. For example, FIG. 37illustrates a system 3700 that comprises a bidirectional cross-overvalve 3710 that operably connects two channels downstream of inlet andoutlet valves 1650, 1670 and an air source 3705.

In accordance with various embodiments, the bellows 100 connected to agiven manifold output line 1640 are each in the same relative positionwithin an actuator assembly 300. For example, as shown in FIGS. 15a and15b , in various embodiments, the actuator assemblies 300 of a panelarray 1500 each have four bellows 100 that are arranged in lines andcolumns in a common orientation (e.g., square to one another).Accordingly, presume that each actuator assembly 300 can be said to havea bellows 100 in a front-right, front-left, rear-right, and rear-leftposition.

Referring to FIG. 16, in various embodiments, each of the bellows 100associated with the first manifold output line 1640A can be in the sameposition in a respective actuator assembly 300. For example, all of thebellows 100 shown in FIG. 16 can be in the front-right position ofactuator assemblies 300A-D. Similarly, the other output lines 1640B-Dcan be respectively associated with bellows 100 in the other positions(not shown in FIG. 16).

For example, presume that that the first manifold output line 1640A isassociated with the front-right bellows 100 of each actuator assembly300A-D; second manifold output line 1640B is associated with thefront-left bellows 100 of each actuator assembly 300A-D; third manifoldoutput line 1640C is associated with the rear-right bellows 100 of eachactuator assembly 300A-D; and fourth manifold output line 1640D isassociated with the rear-left bellows 100 of each actuator assembly300A-D. In such an embodiment, therefore, the actuator assemblies 300 ofa panel array 1500 can be simultaneously actuated while also maintainingessentially the same orientation. In other words, by selectively varyingthe pressure applied by the manifold lines 1640A-D, the panel array 1500can be configured to collectively track the sun, or otherwise move inunison for other purposes.

Additionally, the panel array 1500 of FIG. 16 can also be adapted toembodiments of a panel array 1500 that includes actuator assemblies 300having one or more bellows 100 or other pneumatic actuated elements. Forexample, in an embodiment having two bellows 100, the manifold 1630 canbe associated with two output lines 1640 coupled with two respectivesets of elements 1600. Accordingly, further embodiments can include amanifold 1630 having any suitable number of output lines 1640 (e.g., 1,2, 3, 4, 5, 6, or the like).

As discussed herein, the relative relationship between pressures ofbellows 100 in an actuator assembly 300 can be used to position a solarpanel 705 coupled to the top plate 320 of the actuator assembly 300.Higher or lower overall pressures can be used with similar relativepressure differences between the bellows 100 being used to make theactuator assembly 300 assume various suitable configurations. Higheroverall pressures can result in greater stiffness of the bellows 100,which can be desirable for dynamic loading conditions or the like. Loweroverall pressures can result in reduced stiffness of the bellows 100 andcan be beneficial to reduce strain on the panel array 1500 components.In some embodiments, overall pressure can be dynamically changed forvarious reasons, including eliminating dangerous resonance modes,adapting environmental conditions such as rain, snow or wind, or toreduce the power consumption of the panel array 1500 by lowering theoverall operating pressure. Varying pressure in the bellows 100 may alsoserve to actuate a stow or other mechanism. For example, in oneembodiment, high bellows pressures may compress a spring that is in linewith the flexure, or integrated into the retaining plates. This actionmay activate a lockout feature for use in situations where highstiffness is desirable. Additionally, the spring may extend in when thebellows 100 are under-pressurized, also locking out the actuatorassembly 300 for maintenance or fail safe modes. Stow mechanisms may beactively or passively actuated. Stow mechanisms may also be actuatedfrom a separate control source (dedicated electrical signal) or from apressure signal or combination of pressure signals already being used tocontrol angle and stiffness of the actuator.

In various embodiments (e.g., as shown in FIG. 15a ) a single controlunit 1520 can control a plurality of actuator assemblies 300 in a panelarray 1500. In such embodiments, one or more sensor can collectivelycontrol the plurality of actuator assemblies 300 in the panel array1500. For example, in some embodiments, there can be one or morepressure sensor, flow sensor, temperature sensor, inclinometer, or thelike, that are operable to amortize control over the plurality ofactuator assemblies 300.

In some embodiments, one or more accumulators can be located in varioussuitable locations in the panel array 1500, including co-location withsensors, which can be beneficial for ensuring that control sensing issubstantially unaffected by pressure inconsistencies, pressurenormalization delays, or pressure drops or spikes due to a valve orother causes. Accordingly, control sensing can be insulated from dynamicevents that are downstream from such accumulators. For example, if windwere to move actuator assemblies 300 in the panel array 1500 such thatpressures in the panel array 1500 fluctuate, such pressure changes canbe insulated from control sensors by the accumulators.

In further embodiments, scout-sensors can be used for control ofactuator assemblies 300 in the panel array 1500. For example, in someembodiments, sensors such as a sun sensor, inclinometer, and/or the likecan be positioned on one or more actuator assemblies 300 to monitor theposition and configuration of the one or more actuator assemblies 300.In such embodiments, each actuator assembly 300 may not need to havesensors associated with it, and instead only a small subset of theactuator assemblies 300 need to be associated with sensors. In someembodiments, a control system can use feedback from inverter data orother energy production data to adjust the position of actuatorassemblies 300.

Scout sensors can be desirable in various embodiments because suchsampled sensing can adapt to changes in a panel array 1500 over time,including addition or removal of actuator assemblies 300 from the panelarray 1500; settling or other movement of actuator assemblies 300 in thepanel array 1500; deformation or other changes to materials in the panelarray 1500, or the like.

Additionally, such scout sensing can be beneficial because it can sensedynamic loading conditions so that the system can adjust pressure and/orstiffness of the system. For example, if wind were to move actuatorassemblies 300 in the panel array 1500 such that pressures in the panelarray 1500 fluctuate, such scout sensors could detect the change andstiffen the panel array 1500 by increasing overall pressure to resistthe environmental conditions causing the pressure fluctuations.

In various embodiments, the panel array 1500 can comprise a powered aircompressor that is operable to introduce pressurized fluid into panelarray 1500, which can be used to selectively actuate and/or inflatebellows 100. Such a compressor and other components of the panel array1500 can be powered by a hardwired electrical connection, via battery,via solar power, or the like. In some embodiments, to accommodateinstances where such power sources are lost or expended, or if thecompressor fails, the panel array 1500 can comprise a backup ofpressurized fluid that can be used in the panel array 1500. Forinstance, compressed air can be stored in a tank, accumulator orreservoir. Storage of compressed air can also allow the compressor-tanksystem to supply air at a rate greater than the compressor's capacity.

Although FIG. 16 illustrates one embodiment of how the bellows 100 areinterconnected and associated with a given manifold output line 1640,the bellows 100 can be interconnected in any other suitable way. Forexample, referring to FIG. 17a , bellows 100 in one embodiment can becoupled along a line 1510 via respective restrictors 1710. In anotherembodiment, as illustrated in FIG. 17b , a plurality of bellows 100 canbe connected along a length of a line 1510 via respective T-couplings1720 and line extensions 1715 that couple with caps 1725 on respectivebellows 100. In a further embodiment, as illustrated in FIG. 17c ,bellows 100 can be coupled by respective loops 1730 of line 1510 thatrespectively enter/exit caps 1735 that are coupled with each bellows100, or in lieu of caps 1725, a restrictor 1710 can be integrated intothe bellows 100 themselves. In further embodiments, any suitableplurality of loops 1730, or the like, can enter/exit caps 1735.

Additionally, in various embodiments, bellows 100 can be inter-coupledin any suitable way, including more than one or a combination of thecoupling examples shown and described herein. For example, someembodiments of a panel array 1500 can include a trunk-and-branchconfiguration, wherein primary lines 1510 have a larger diameter andsecondary lines 1510 (e.g. extensions 1715 of FIG. 17b ) that are closerto bellows 100 are of a smaller diameter. In such an embodiment, trunklines 1510 can provide for less restricted flow, whereas the branchlines 1510 can provide for more flow restriction.

Lines 1510 can comprise any suitable material for containing a desiredfluid. For example, in various embodiments, lines can be polyurethane,polyvinylchloride (PVC), high-density polyethylene (HDPE), cross-linkedpolyethylene (PEX), polyamide, steel, galvanized steel, iron, copper,aluminum, or the like. Lines 1510 can be flexible and/or rigid in someembodiments. In some embodiments, lines 1510 can be configured to serveas compliance in joints with deformable seals; the lines 1510 canprovide sealing compliance and/or compliance can be external.

In various embodiments, a panel array 1500 can include one or more typeof suitable line 1510 and joint material, and in some embodiments, agiven portion of a line 1510 or joint can comprise a plurality ofmaterials. For example, a metal core can be covered in a polymer toprovide buckling support during flexing or for environmental protection.In further embodiments, lines 1510 can be fiber or braid reinforced. Apolymeric tube may have a metal foil layer for creep resistance. A linemay be covered with a secondary shroud to avoid excessiveweather-related degradation, such as that from ultraviolet radiation.Selective use of such a shroud permits the use of a continuous line ofnon-weather-resistant material to be economically used through areas ofintermittent protection, such as is the case bridging between co-linearsolar arrays with gaps between arrays or between adjacent solar arrays.

Lines 1510 of the panel array 1500 can be coupled in various suitableways. For example, connectors can interface with the inside and/oroutside of respective lines 1510 or other components. In variousembodiments, compressive connections, bonded connection, weldedconnections, adhesive connections, or the like can be used.

In various embodiments, it can be beneficial to use a flow-restrictiondevice or structure at various positions in a panel array 1500. Forexample, as shown in FIG. 17a , a restrictor 1710 can be positionedbetween the bellows 100 and a line 1510. In other embodiments, aflow-restriction device or structure can also be present in a cap 1725,1735, a T-coupling 1720 or at various positions in a line 1510.

Use of flow-restriction devices or structures can limit the rate of flowinto/out of the bellows 100 to inhibit undesirable pressure drops and/orpressure surges in the bellows 100, which can be beneficial formaintaining smooth actuation of the actuator assemblies 300 and makingthe panel array 1500 more tolerant of fluid leaks and/or ruptures in thepanel array 1500.

For example, the system of interconnected bellows 100 of a panel array1500 can maintain operation even when a failure occurs at a bellows 100,cap 1725, 1735, or the like, where a leak or rupture occurs downstreamof a flow-restriction device.

Additionally, in some examples of a single axis configuration, where thetops of multiple actuators 300 are mechanically fixed to one another(e.g., as illustrated in FIGS. 10 and 35) restrictions at a bellow levelcan cause a large pressure difference between respective bellows 100 inactuators 300 that are mechanically linked in the case of a severe leakin a single bellow 100. This can be undesirable as it can causepotentially damaging mechanical stresses in mechanical members linkingactuators.

Alternatively, in further examples of a single axis configuration of anactuator 300 having two bellows 100, it can be advantageous to permitflow between mechanically linked actuators via the use of relativelylarge internal diameter lines. Restrictions can be used where thepneumatic connection for a group of mechanically linked actuatorsattaches to a pneumatic line supplying multiple actuator groups. Doingso can isolate the impact of leak failures to the single mechanicallylinked group, permitting the continued operation of other groups on thesame line while avoiding significant stresses in, and potential damageto, mechanical structures.

For example, FIG. 38 illustrates a system 3800 that comprises a supplyline 3805 that originates from a controller, to which a plurality ofrows lines 3810 are connected to the supply line 3805, including lines3810A, 3810B and 3810N. A plurality of harnesses 3815 are connected toeach row line 3810, with each harness 3815 comprising a plurality ofbellows 100. A restriction 3820 is positioned between the bellows 100 ofeach harness 3815 and the respective row line 3815.

In another example, FIG. 39 illustrates a system 3900 that comprises asupply line 3905 that originates from a controller, to which a pluralityof rows lines 3910 are connected to the supply line 3905, includinglines 3910A, 3910B and 3910N. Each supply line comprises a series ofharnesses 3915 that are separated by a connector 3925. A restriction3920 is disposed between the series of harnesses 3915 and the supplyline 3905. Each row line 2910 terminates at a plug 3930.

Restriction sizing can be selected based on maximizing the degree ofrestriction while maintaining sufficient flow capacity to move theactuator at the desired maximum speed during normal operation (e.g.,leak-free and/or low leak rate). A greater degree of restriction canhave the benefit of limiting the volumetric flow rate even in a severeleak case, permitting the compressor to compensate for leaked air andallowing the rest of the system to continue to operate.

Flow restriction devices can include any suitable device or structure.For example, FIGS. 18a and 18b illustrate two embodiments of arestrictor 1800 that comprises a body 1810 that defines a fluid passage1820 having a pair of ports 1830 that provide for entry and/or exit offluid into the fluid passage 1820. FIG. 18a illustrates an example of acoiled fluid passage 1820A and FIG. 18b illustrates an example of aserpentine fluid passage 1820B. In various embodiments, such arestrictor 1800 can be a portion of a bellows 100, cap 1725, 1735, orthe like. In other embodiments, a restrictor 1800 can comprise amulti-layer fluid passage 1820, or the like.

In further embodiments, a flow-restriction device or structure cancomprise a metering orifice, which can include a small hole (e.g.0.004-0.050″ in diameter) or other sized hole that is of smallerdiameter that surrounding lines 1510, or the like. In furtherembodiments, lines 1510 can be configured to provide flow-restriction bysizing an inner diameter of the tubing over a length such that desiredflow-resistance is achieved. In other words, lines 1510 can act as anextended, large-diameter, metering orifice.

In some embodiments, V-plate bulbous actuators can be antagonisticallypositioned in a V-configuration with a flexure or pivot at the turningpoint. Compliant cylinders can be inflated antagonistically so as toaffect a strong pressure to position ratio. The cylinders can beconstructed in multiple ways including blow molding, rotomolding, fabrictube with sealed ends, a sewn fabric envelope with separate impermeablebladder, and the like. Multiple bulbous actuators can be stacked forgreater range of motion.

For example, FIGS. 40a and 40b illustrate an example embodiment of anactuator assembly that comprises a first and second actuator 4005A,4005B, which are respectively disposed in chambers 4011A, 4011B of acavity defined by a sector body 4015 and a spine 4025 that is rotatablycoupled to the sector body 4015 at an axle 4030. The sector body 4015 isdefined by a pair of radial arms 4016 and an arc rim 4017. The radialarms 4016 extend from the axel 4030 with the arc rim 4017 extendingbetween the opposite ends of the radial arms 4016.

The spine 4025 is coupled to a portion of a plate 4020, which in thisexample is coupled at an approximately 90 degree angle from a face ofthe plate 4020 substantially at the center of the plate 4020. The sectorbody 4015 can maintain a fixed position relative to the ground (e.g.,via a post or the like) and the plate 4020 can be rotated by selectiveinflation and/or deflation of one or both of the actuators 4005.

In the example configuration shown in FIG. 40a , the plate 4020 is shownin a flat configuration where a top face of the plate 4020 is generallyparallel with the ground or perpendicular to gravity. In such aconfiguration, the first and second actuator 4005A, 4005B can beinflated substantially the same amount, which makes them of equal widthwithin the respective chambers 4011A, 4011B. In contrast, FIG. 40billustrates a tilted configuration where the first actuator 4005A isless inflated than the second actuator 4005B, which can cause the volumeof the first chamber 4011A to decrease and the volume of the secondchamber 4012 to increase. Accordingly, the spine 4025 is rotated withinthe cavity 4010, which in turn causes the plate 4020 to tilt.

In a further embodiment, V-plate ball actuators can be antagonisticallypositioned in a V-configuration with a flexure or pivot at the turningpoint. Compliant balls can be inflated antagonistically and in oneconfiguration cupped by hemispherical end plates, one of which can beconcave, the other of which can be convex. Multiple ball actuators canbe stacked for greater range of motion.

In yet another embodiment, V-plate bellows actuators can beantagonistically positioned in a V-configuration with a flexure or pivotat the turning point. Compliant bellows can be arranged in an arc aroundthe approximate center of a pivot or flexure. Ribs can be used, likespokes on a wheel to constrain the motion of the bellows. Angled ribassemblies may couple corresponding bellows convolutions and actuatorflexure or pivot.

Additionally, although various example pneumatic architectures have beenillustrated in accordance with some example embodiments (e.g., FIGS. 16,17 a-c, 38 and 39) any suitable pneumatic architectures can be used inaccordance with further embodiments. For example, one embodiment can bewithout the use of a central compressor and instead, the use of smallercompressors at the row controller level. In some embodiments, such aconfiguration can save the expense and complexity of a source-airdistribution system.

FIGS. 41a-e illustrate further example embodiments of pneumaticarchitectures. For example, in the system 4100A of FIG. 41a , onecompressor 1611 can be associated with an east bellows 100E on a tracker300, and one compressor 1611 can be associated with a west bellows 100W.Respective exhaust valves 1670 can be provided for each set of bellows100. Motion of the tracker 300 can be achieved by direct pressurizationof the bellow 100 to the appropriate pressure by turning the appropriatecompressor 1611 on or off, or by reducing the pressure using the exhaustvalve 1670.

Similarly, FIG. 41b illustrates and example system 4100B, wherein, acompressor 1611 is used to directly pressurize the bellows 100 formoving a tracker 300 and a diverter valve 4150 is used to allow a singlecompressor 1611 to operate both sets of bellows 100. The exhaust valves1670 can operate as described above in relation to FIG. 41a . In thisexample 4100B, the compressor 1611 can feed the diverter valve 4150which pushes air to either east or west bellows channel to actuate thebellows 100. Similarly, FIG. 41c illustrates a further exampleembodiment 4100C, wherein a single compressor 1611 and exhaust valve1670 are coupled to a diverted valve 4150, which can be used to actuatebellows 100.

FIG. 41d illustrates a further example embodiment 4100D wherein a pairof respective compressors 1611 can also serve an exhaust valve functionand thereby replace exhaust valves 1670. For example, changing therotation direction of each compressor 1611 can either inject or removeair from the bellows 100 thus changing the pressure and orientation ofthe tracker 300. This embodiment can be implemented without valves.Alternatively, a bidirectional compressor can replace the east and westcompressors 1611 of FIG. 41d and be operably connected to both the eastand west bellows 100W, 100E. In yet another embodiment, a bidirectionalcompressor can replace the east and west compressors 1611 of FIG. 41dand be operably connected to both the east and west bellows 100W, 100Ewith a conventional compressor connected to the bidirectional compressorand the west bellow 100W or east bellow 100E.

FIG. 41e illustrates a still further example embodiment 4100E, which cancomprise a single compressor 1611 and diverter valve 4150. For example,by changing the direction of compressor operation and the state of thediverter valve 4150, air can be either injected into or removed fromeither set of bellows 100 thus controlling the pressure ratio andorientation of the tracker 300. Changing the rotation direction ofcompressor 1611 can be operable to exhaust air from the bellows 100 andthe diverter valve 4150 switches between the two bellows channels.

In various embodiments storage of compressed air can be configured toprevent or reduce parasitic energy loss. For example, in someembodiments, a control system can communicate with air generation systemto only run the compressor 1611 when there is DC over-generation (withincertain limits). When the inverters are clipping, energy is being lost(not exported to the grid) so the energy used for compression is “free.”In such embodiments, it can be desirable to have large air storagecapacity. Such embodiments can allow a tracker system to improve theoverall energy yield of a solar array by only generating compressed airwhen there is excess power available from the solar array.

In a conventional solar implementation there can be a greater portion ofDC power available compared to AC power. In this state, the excess DCgeneration is dissipated as heat. By operating the compressor onlyduring these times, the cost of energy for the compressor 1611 iseffectively negative because the energy consumed has no value (it cannotbe exported) and consuming that energy will reduce the temperature ofthe solar modules thus reducing their degradation rate and extendingtheir lifetime.

Additionally, in further embodiments, a system can comprise a pluralityof compressors 1611 configured for air storage at different pressures.For example, in one embodiment, a system can comprise a high pressurecompressor 1611 and a low pressure compressor 1611. The high pressurecompressor 1611 can be configured for maximizing storage capacity for agiven volume and the second low pressure compressor 1611 can beconfigured to increase system efficiency during normal low-demandtracking operation. Such embodiments can reduce the total energy used bythe tracking system thus increasing effective solar yield.

The described embodiments are susceptible to various modifications andalternative forms, and specific examples thereof have been shown by wayof example in the drawings and are herein described in detail. It shouldbe understood, however, that the described embodiments are not to belimited to the particular forms or methods disclosed, but to thecontrary, the present disclosure is to cover all modifications,equivalents, and alternatives.

What is claimed is:
 1. A pneumatically actuated solar panel array systemcomprising: a plurality of separate actuator assemblies that eachinclude: a planar top plate having a first and second side portion witha central portion between the first and second side portions, an angledbottom plate disposed below the planar top plate and rotatably coupledto the planar top plate at the central portion between the first andsecond side portions via a rotatably coupling joint disposed at an apexof the angled bottom plate, the angled bottom plate having an opposingfirst side face and second side face, a first cavity defined by thefirst side portion of the planar top plate and the first side face ofthe angled bottom plate, a second cavity defined by the second sideportion of the planar top plate and the second side face of the angledbottom plate, a first set of one or more inflatable actuators disposedwithin the first cavity, the first set of one or more inflatableactuators extending between and engaging the first side portion of theplanar top plate and the first side face of the angled bottom plate, asecond set of one or more inflatable actuators disposed within thesecond cavity, the second set of one or more inflatable actuatorsextending between and engaging the second side portion of the planar topplate and the second side face of the angled bottom plate, and the firstand second sets of inflatable actuators being configured to beseparately pneumatically inflated, where the pneumatic inflation expandsthe inflatable actuators to control the pressure ratio between the firstand second sets of inflatable actuators and to rotate the top platerelative to the bottom plate; and a plurality of solar panels coupled tothe top plates of the actuator assemblies, the solar panels configuredto be actuated based on inflation of the one or more inflatableactuators associated with the plurality of actuator assembles.
 2. Thepneumatically actuated solar panel array system of claim 1, furthercomprising: a first pneumatic channel operably coupled to each of theinflatable actuators of the first sets of inflatable actuators of theplurality of actuator assemblies and configured to inflate each of theinflatable actuators of the first sets of inflatable actuatorssimultaneously; and a second pneumatic channel operably coupled to eachof the inflatable actuators of the second sets of inflatable actuatorsof the plurality of actuator assemblies and configured to inflate eachof the inflatable actuators of the second sets of inflatable actuatorssimultaneously.
 3. The pneumatically actuated solar panel array systemof claim 1, wherein each of the first and second sets of inflatableactuators comprises no more than two inflatable actuators.
 4. Thepneumatically actuated solar panel array system of claim 1, wherein thebottom plates of the actuator assemblies are V-shaped.
 5. Thepneumatically actuated solar panel array system of claim 1, wherein theplanar top plate extends laterally along a top plate axis, wherein thebottom plate has an axis of symmetry, and wherein the top plate axis isperpendicular to the axis of symmetry of the bottom plate in at leastone actuation configuration of the top and bottom plates.
 6. Thepneumatically actuated solar panel array system of claim 1, wherein eachof the inflatable actuators comprises a rigid constraint disposed abouta peripheral edge of the inflatable actuators.
 7. An actuator assemblythat comprises: a planar top plate having a first and second sideportion with a central portion between the first and second sideportions; an angled bottom plate disposed below the planar top plate androtatably coupled to the planar top plate at the central portion betweenthe first and second side portions via a rotatably coupling jointdisposed at an apex of the angled bottom plate, the angled bottom platehaving an opposing first side face and second side face; a first cavitydefined by the first side portion of the planar top plate and the firstside face of the angled bottom plate; a second cavity defined by thesecond side portion of the planar top plate and the second side face ofthe angled bottom plate; a first set of one or more inflatable actuatorsdisposed within the first cavity, the first set of one or moreinflatable actuators extending between and engaging the first sideportion of the planar top plate and the first side face of the angledbottom plate; a second set of one or more inflatable actuators disposedwithin the second cavity, the second set of one or more inflatableactuators extending between and engaging the second side portion of theplanar top plate and the second side face of the angled bottom plate;the first and second sets of inflatable actuators being configured to beseparately fluidically inflated, where the fluidic inflation expands theinflatable actuators and rotates the top plate relative to the bottomplate; and one or more solar panels coupled to the top plate of theactuator assembly, the one or more solar panels configured to beactuated based on inflation of the one or more inflatable actuatorsassociated with the actuator assembly.
 8. The actuator assembly of claim7, further comprising: a first fluidic channel operably coupled to eachof the inflatable actuators of the first set of inflatable actuators ofthe actuator assembly and configured to inflate each of the inflatableactuators of the first set of inflatable actuators simultaneously; and asecond fluidic channel operably coupled to each of the inflatableactuators of the second set of inflatable actuators of the actuatorassembly and configured to inflate each of the inflatable actuators ofthe second set of inflatable actuators simultaneously.
 9. The actuatorassembly of claim 7, wherein the planar top plate extends laterallyalong a top plate axis, wherein the bottom plate has an axis ofsymmetry; and wherein the top plate axis is perpendicular to the axis ofsymmetry of the bottom plate in at least one actuation configuration ofthe top and bottom plates.
 10. An actuator assembly that comprises: aplanar top plate; an angled bottom plate rotatably coupled to the planartop plate via a joint, the angled bottom plate having an opposing firstside face and second side face; a first cavity defined by the top plateand the first side face of the angled bottom plate; a second cavitydefined by the top plate and the second side face of the angled bottomplate; a first set of one or more inflatable actuators disposed withinthe first cavity, the first set of one or more inflatable actuatorsextending between and engaging the first side portion of the planar topplate and the first side face of the angled bottom plate; a second setof one or more inflatable actuators disposed within the second cavity,the second set of one or more inflatable actuators extending between andengaging the second side portion of the planar top plate and the secondside face of the angled bottom plate; and the first and second sets ofinflatable actuators being configured to be separately fluidicallyinflated, where the fluidic inflation expands the inflatable actuatorsand rotates the top plate relative to the bottom plate.
 11. The actuatorassembly of claim 10, further comprising one or more solar panelscoupled to the top plate of the actuator assembly, the one or more solarpanels configured to be actuated based on inflation of the one or moreinflatable actuators associated the actuator assembly.
 12. The actuatorassembly of claim 10, wherein the top plate comprises a first and secondside portion with a central portion between the first and second sideportions, and wherein the angled bottom plate is rotatably coupled tothe planar top plate at the central portion between the first and secondside portions via the joint, the joint being disposed at an apex of theangled bottom plate.
 13. The actuator assembly of claim 10, wherein theangled bottom plate is disposed below the planar top plate.
 14. Theactuator assembly of claim 10, further comprising: a first fluid channeloperably coupled to each of the inflatable actuators of the first set ofinflatable actuators of the actuator assembly and configured to inflateeach of the inflatable actuators of the first set of inflatableactuators simultaneously; and a second fluid channel operably coupled toeach of the inflatable actuators of the second set of inflatableactuators of the actuator assembly and configured to inflate each of theinflatable actuators of the second set of inflatable actuatorssimultaneously.
 15. The actuator assembly of claim 10, wherein theplanar top plate extends laterally along a top plate axis, wherein thebottom plate has an axis of symmetry; and wherein the top plate axis isperpendicular to the axis of symmetry of the bottom plate in at leastone actuation configuration of the top and bottom plates.
 16. Theactuator assembly of claim 10, wherein each of the first and second setsof inflatable actuators comprises no more than two inflatable actuators.17. The actuator assembly of claim 10, wherein the bottom plate of theactuator assembly is V-shaped.
 18. The actuator assembly of claim 10,wherein the planar top plate extends laterally along a top plate axis,wherein the bottom plate has an axis of symmetry, and wherein the topplate axis is perpendicular to the axis of symmetry of the bottom platein at least one configuration of the top and bottom plates.
 19. Theactuator assembly of claim 10, wherein each of the inflatable actuatorscomprises a rigid constraint disposed about a peripheral edge of theinflatable actuators.